bioloid
Start:
* Running Bioloid Demos [#j441959c]
These are demonstrations with a real robot.
** Overview [#fd89ee33]
The robot employed here is [[Bioloid:http://www.robotis.c...
To execute the following demos, at least, Bioloid Compreh...
However, you can use the other type of Bioloid Kit by cha...
Note: we do not guarantee that the demos work with a real...
We use the King Spider model of Bioloid.
#ref(kingspider2b.png,center,zoom,300x0)
A crawling task is performed with this robot.
The objective of the crawling task is to move forward as ...
So, the reward is designed so that it is proportional to ...
Bioloid has an infrared ray (IR) sensor to observe the di...
We use the IR sensor and calculate the velocity for the r...
The following figure shows a setup of the environment.
#ref(rl-bioloid-env.png,center,zoom,400x0)
Each episode begins with an initial pose, and ends if t>5...
** Build the Demo Program [#yc05a0c6]
Execute:
$ cd benchmarks/bioloid
$ make
See [[Documentation/Installation Guide]] for the detail.
** Running Command [#k4c65b7e]
Please read [[Common Usage>../Common Usage]] in advance.
The running command is:
$ ./DEMO_PRG -path PATH_LIST -agent AGENT_FILE -outdir ...
The demo-specific elements are:
:DEMO_DIR| bioloid (benchmarks/bioloid).
:DEMO_PRG| bioloid.out
:PATH_LIST| ../cmn,m,m/cr
:AGENT_FILE| Available agent scripts are listed below.
:OUT_DIR| Any directory is possible.
For example, execute the following:
$ mkdir -p result/rl1
$ ./bioloid.out -path ../cmn,m,m/cr -agent ql_dcob1 -ou...
To exit the program, press Ctrl+c on the terminal, then p...
In OUT_DIR (result/rl1), the result files are stored.
For example, use gnuplot to plot the learning curve as:
$ gnuplot
gnuplot> plot 'result/rl1/log-eps-ret.dat' w l
#ref(rl1-eps-ret.png,center,zoom,300x0)
** Agent Script [#daad775b]
The following files can be specified as AGENT_FILE.
:ql_dcob1 | 5-DoF, Q(lambda)-learning, DCOB (action space...
:ql_dcob2 | 2-DoF, Q(lambda)-learning, DCOB (action space...
:ql_dcob3 | 3-DoF, Q(lambda)-learning, DCOB (action space...
:ql_grid1 | 5-DoF, Q(lambda)-learning, Grid action space,...
:z1 | For the Dinosaur model of Bioloid (5-DoF).
** Miscellaneous [#haf60902]
*** Serial Communication Trouble [#v8ab3833]
(This part was written in Jun. 10, 2011)
We tested our bioloid program in some linux distributions...
The following way can fix this issue.
First, remove the pl2303 module from the kernel by:
sudo modprobe -r pl2303
Then, reload the same module:
sudo modprobe pl2303
We found that this problem arises in Ubuntu ''ver. 10.10'...
This problem is discussed in [[Ubuntu Forums:http://ubunt...
End:
* Running Bioloid Demos [#j441959c]
These are demonstrations with a real robot.
** Overview [#fd89ee33]
The robot employed here is [[Bioloid:http://www.robotis.c...
To execute the following demos, at least, Bioloid Compreh...
However, you can use the other type of Bioloid Kit by cha...
Note: we do not guarantee that the demos work with a real...
We use the King Spider model of Bioloid.
#ref(kingspider2b.png,center,zoom,300x0)
A crawling task is performed with this robot.
The objective of the crawling task is to move forward as ...
So, the reward is designed so that it is proportional to ...
Bioloid has an infrared ray (IR) sensor to observe the di...
We use the IR sensor and calculate the velocity for the r...
The following figure shows a setup of the environment.
#ref(rl-bioloid-env.png,center,zoom,400x0)
Each episode begins with an initial pose, and ends if t>5...
** Build the Demo Program [#yc05a0c6]
Execute:
$ cd benchmarks/bioloid
$ make
See [[Documentation/Installation Guide]] for the detail.
** Running Command [#k4c65b7e]
Please read [[Common Usage>../Common Usage]] in advance.
The running command is:
$ ./DEMO_PRG -path PATH_LIST -agent AGENT_FILE -outdir ...
The demo-specific elements are:
:DEMO_DIR| bioloid (benchmarks/bioloid).
:DEMO_PRG| bioloid.out
:PATH_LIST| ../cmn,m,m/cr
:AGENT_FILE| Available agent scripts are listed below.
:OUT_DIR| Any directory is possible.
For example, execute the following:
$ mkdir -p result/rl1
$ ./bioloid.out -path ../cmn,m,m/cr -agent ql_dcob1 -ou...
To exit the program, press Ctrl+c on the terminal, then p...
In OUT_DIR (result/rl1), the result files are stored.
For example, use gnuplot to plot the learning curve as:
$ gnuplot
gnuplot> plot 'result/rl1/log-eps-ret.dat' w l
#ref(rl1-eps-ret.png,center,zoom,300x0)
** Agent Script [#daad775b]
The following files can be specified as AGENT_FILE.
:ql_dcob1 | 5-DoF, Q(lambda)-learning, DCOB (action space...
:ql_dcob2 | 2-DoF, Q(lambda)-learning, DCOB (action space...
:ql_dcob3 | 3-DoF, Q(lambda)-learning, DCOB (action space...
:ql_grid1 | 5-DoF, Q(lambda)-learning, Grid action space,...
:z1 | For the Dinosaur model of Bioloid (5-DoF).
** Miscellaneous [#haf60902]
*** Serial Communication Trouble [#v8ab3833]
(This part was written in Jun. 10, 2011)
We tested our bioloid program in some linux distributions...
The following way can fix this issue.
First, remove the pl2303 module from the kernel by:
sudo modprobe -r pl2303
Then, reload the same module:
sudo modprobe pl2303
We found that this problem arises in Ubuntu ''ver. 10.10'...
This problem is discussed in [[Ubuntu Forums:http://ubunt...
Page:
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